Shanghai Geometrical Perception and Learning Co., Ltd.

Xinfei Lu

Songhua Shi

Dan Xue

Song Pan

Jianjun Zhang

Yingzhong Zhao

A method for global parking status detection based on 4D millimeter wave imaging radar, includes: self-vehicle position estimation based on the relative transformation between the acquired front and rear frames of the 4D millimeter wave imaging radar point cloud; acquire a submap within a preset range around the self-vehicle; carry out the extraction of the ROI point cloud in the generated submap; carry out filtering, clustering, and point cloud contour extraction processing points sequentially on the extracted point cloud; and carry out the fitting process of the vehicle position boundary points based on the acquired individual boundary points; associate the currently detected parking space boundary points with the global parking space point cloud map for the parking space, and obtain the submap point cloud parking space and global parking space association pairs; and make judgement of the parking space state based on the parking space association state.

Method for global parking status detection based on 4D millimeter wave imaging radar

A method of target feature extraction and multi-target tracking based on 4D millimeter wave radar includes acquiring the point cloud data output from the radar and preprocess the point cloud data to eliminate the outlier value; processing the points acquired after preprocessing by Density-Based Spatial Clustering of Applications with Noise (DBSCAN) clustering; processing each of the acquired clusters for target feature extraction; predicting the existing trajectory is predicted, and the prediction results are globally correlated with the clustering results; based on the correlation clustering results, the corresponding multi-target tracking motion state processing is executed to obtain the transverse pendulum angular velocity; and based on the target motion state, the target size information as well as the heading angle information are updated.

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Shanghai, China

Xinfei Lu